Handle slave status frames
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@ -8,6 +8,7 @@
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#define CAN_ID_SLAVE_PANIC 0x009
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#define CAN_ID_AMS_STATUS 0x00A
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#define CAN_ID_AMS_IN 0x00B
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#define CAN_ID_SLAVE_STATUS 0x014
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#define CAN_ID_SLAVE_LOG 0x4F4
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#define CAN_ID_SHUNT_BASE 0x520
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#define CAN_ID_SHUNT_CURRENT 0x521
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@ -20,7 +20,8 @@ typedef enum {
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SLAVE_ERR_OT,
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SLAVE_ERR_UT,
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SLAVE_ERR_OV,
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SLAVE_ERR_UV
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SLAVE_ERR_UV,
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SLAVE_ERR_UNKNOWN,
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} SlaveErrorKind;
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typedef struct {
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@ -31,8 +32,10 @@ typedef struct {
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typedef struct {
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uint8_t id;
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SlaveError error;
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uint16_t voltages[N_CELLS_SERIES];
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int16_t temperatures[N_TEMP_SENSORS];
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uint8_t soc;
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uint16_t min_voltage;
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uint16_t max_voltage;
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int16_t max_temp;
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uint32_t last_message;
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} SlaveHandle;
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@ -44,6 +47,7 @@ void slaves_init();
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void slaves_check();
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void slaves_handle_panic(const uint8_t *data);
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void slaves_handle_status(const uint8_t *data);
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void slaves_handle_log(const uint8_t *data);
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#endif // INC_SLAVE_MONITORING_H
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@ -15,8 +15,8 @@ void can_init(CAN_HandleTypeDef *handle) {
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ftcan_add_filter(CAN_ID_SHUNT_BASE, 0xFF0);
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ftcan_add_filter(CAN_ID_AMS_IN, 0xFFF);
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ftcan_add_filter(CAN_ID_SLAVE_PANIC, 0xFFF);
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ftcan_add_filter(CAN_ID_SLAVE_STATUS, 0xFFF);
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ftcan_add_filter(CAN_ID_SLAVE_LOG, 0xFFF);
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// TODO: Slave status?
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}
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HAL_StatusTypeDef can_send_status() {
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@ -37,6 +37,9 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
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case CAN_ID_SLAVE_PANIC:
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slaves_handle_panic(data);
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break;
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case CAN_ID_SLAVE_STATUS:
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slaves_handle_status(data);
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break;
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case CAN_ID_SLAVE_LOG:
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slaves_handle_log(data);
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break;
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@ -20,8 +20,9 @@ void slaves_init() {
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slaves[i].id = i;
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slaves[i].error.kind = SLAVE_ERR_NONE;
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slaves[i].last_message = 0;
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memset(&slaves[i].voltages, 0, sizeof(slaves[i].voltages));
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memset(&slaves[i].temperatures, 0, sizeof(slaves[i].temperatures));
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slaves[i].min_voltage = 0;
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slaves[i].max_voltage = 0;
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slaves[i].max_temp = 0;
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}
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HAL_GPIO_WritePin(SLAVE_POWER_0_GPIO_Port, SLAVE_POWER_0_Pin, GPIO_PIN_SET);
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@ -47,17 +48,11 @@ void slaves_check() {
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} else if (slaves[i].error.kind == SLAVE_ERR_TIMEOUT) {
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slaves[i].error.kind = SLAVE_ERR_NONE;
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}
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for (int j = 0; j < N_CELLS_SERIES; j++) {
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uint16_t v = slaves[i].voltages[j];
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if (v < min_voltage_new) {
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min_voltage_new = v;
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}
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if (slaves[i].min_voltage < min_voltage_new) {
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min_voltage_new = slaves[i].min_voltage;
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}
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for (int j = 0; j < N_TEMP_SENSORS; j++) {
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int16_t t = slaves[i].temperatures[j];
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if (t > max_temp_new) {
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max_temp_new = t;
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}
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if (slaves[i].max_temp > max_temp_new) {
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max_temp_new = slaves[i].max_temp;
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}
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if (slaves[i].error.kind != SLAVE_ERR_NONE) {
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@ -93,6 +88,24 @@ void slaves_handle_panic(const uint8_t *data) {
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slaves[slave_id].last_message = HAL_GetTick();
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}
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void slaves_handle_status(const uint8_t *data) {
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uint8_t slave_id = data[0] & 0x7F;
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int error = data[0] & 0x80;
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if (error) {
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if (slaves[slave_id].error.kind == SLAVE_ERR_NONE) {
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slaves[slave_id].error.kind = SLAVE_ERR_UNKNOWN;
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}
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} else {
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slaves[slave_id].error.kind = SLAVE_ERR_NONE;
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}
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slaves[slave_id].soc = data[1];
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const uint8_t *ptr = &data[2];
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slaves[slave_id].min_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
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slaves[slave_id].max_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
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slaves[slave_id].max_temp = ftcan_unmarshal_unsigned(&ptr, 2);
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slaves[slave_id].last_message = HAL_GetTick();
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}
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void slaves_handle_log(const uint8_t *data) {
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// TODO
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}
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@ -10,7 +10,7 @@ target: ams-master-23
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# Can be C or C++
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language: C
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optimization: Og
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optimization: O0 -Og
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# MCU settings
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targetMCU: stm32f3x
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@ -20,12 +20,12 @@ floatAbi: -mfloat-abi=hard
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ldscript: STM32F302CBTx_FLASH.ld # linker script
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# Compiler definitions. The -D prefix for the compiler will be automatically added.
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cDefinitions:
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cDefinitions:
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- USE_HAL_DRIVER
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- STM32F302xC
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- STM32F3
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cxxDefinitions:
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cxxDefinitions:
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- USE_HAL_DRIVER
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- STM32F302xC
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@ -43,12 +43,11 @@ asDefinitionsFile:
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cFlags: []
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cxxFlags: []
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assemblyFlags: []
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linkerFlags:
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linkerFlags:
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- -specs=nano.specs
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# libraries to be included. The -l prefix to the library will be automatically added.
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libraries:
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libraries:
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- c
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- m
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- nosys
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@ -60,17 +59,16 @@ libraryDirectories: []
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# Glob patterns (https://www.wikiwand.com/en/Glob_(programming)) can be used.
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# Do mind that double stars are reserved in yaml
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# these should be escaped with a: \ or the name should be in double quotes e.g. "**.test.**"
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excludes:
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excludes:
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- "**/Examples/**"
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- "**/examples/**"
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- "**/Example/**"
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- "**/example/**"
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- "**_template.*"
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# Include directories (directories containing .h or .hpp files)
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# If a CubeMX makefile is present it will automatically include the include directories from that makefile.
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includeDirectories:
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includeDirectories:
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- Core/Inc
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- Drivers/STM32F3xx_HAL_Driver/Inc
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- Drivers/STM32F3xx_HAL_Driver/Inc/Legacy
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@ -83,13 +81,12 @@ includeDirectories:
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- Core/Src/**
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- Core/Lib/**
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# Files that should be included in the compilation.
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# If a CubeMX makefile is present it will automatically include the c and cpp/cxx files from that makefile.
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# Glob patterns (https://www.wikiwand.com/en/Glob_(programming)) can be used.
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# Do mind that double stars are reserved in yaml
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# these should be escaped with a: \ or the name should be in double quotes e.g. "HARDWARE_DRIVER*.c"
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sourceFiles:
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sourceFiles:
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- startup_stm32f302xc.s
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- Core/Src/main.c
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- Core/Src/stm32f3xx_it.c
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@ -119,7 +116,6 @@ sourceFiles:
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- Core/Src/**
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- Core/Lib/**
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# When no makefile is present it will show a warning pop-up.
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# However when compilation without the CubeMX Makefile is desired, this can be turned of.
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suppressMakefileWarning: false
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@ -130,10 +126,9 @@ suppressMakefileWarning: false
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customMakefileRules:
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# - command: sayhello
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# rule: echo "hello"
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# dependsOn: $(BUILD_DIR)/$(TARGET).elf # can be left out
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# dependsOn: $(BUILD_DIR)/$(TARGET).elf # can be left out
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# Additional flags which will be used when invoking the make command
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makeFlags:
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# - -O # use this option when the output of make is mixed up only works for make version 4.0 and upwards
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# - --silent # use this option to silence the output of the build
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@ -22,7 +22,7 @@ TARGET = ams-master-23
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# debug build?
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DEBUG = 1
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# optimization
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OPT = -Og
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OPT = -O0 -Og
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#######################################
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